import time
import sys
import os
import toml
import copy
import math
import lcm

# 添加父目录到路径，以便能够导入utils
sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
# 添加当前目录到路径，确保可以找到local文件
sys.path.append(os.path.dirname(os.path.abspath(__file__)))

from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
from file_send_lcmt import file_send_lcmt

# 创建本模块特定的日志记录器
logger = get_logger("低头匍匐步态")

observe = True

robot_cmd = {
    'mode':0, 'gait_id':0, 'contact':0, 'life_count':0,
    'vel_des':[0.0, 0.0, 0.0],
    'rpy_des':[0.0, 0.0, 0.0],
    'pos_des':[0.0, 0.0, 0.0],
    'acc_des':[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    'ctrl_point':[0.0, 0.0, 0.0],
    'foot_pose':[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    'step_height':[0.0, 0.0],
    'value':0,  'duration':0
}

def low_crawl_gait(ctrl, msg, step_count=8, observe=True):
    """
    执行低头匍匐前进步态
    
    参数:
        ctrl: Robot_Ctrl对象，包含机器人控制接口
        msg: 控制消息对象
        step_count: 执行的步数，默认8步（两个完整步态周期）
        observe: 是否输出调试信息
    
    返回:
        bool: 是否成功执行步态
    """
    if observe:
        section('开始执行低头匍匐前进步态', "步态控制")
        info(f"计划执行 {step_count} 步的匍匐步态", "步态")
    
    # 切换步态
    usergait_msg = file_send_lcmt()
    
    try:
        # 加载步态参数
        gait_def_path = "./task_2/Gait_Def_crawl.toml"
        gait_params_path = "./task_2/Gait_Params_crawl.toml"
        
        if observe:
            info(f"加载步态定义文件: {gait_def_path}", "加载")
            info(f"加载步态参数文件: {gait_params_path}", "加载")
        
        # 检查文件是否存在
        if not os.path.exists(gait_def_path):
            error(f"步态定义文件不存在: {gait_def_path}", "错误")
            return False
            
        if not os.path.exists(gait_params_path):
            error(f"步态参数文件不存在: {gait_params_path}", "错误")
            return False
        
        # 加载步态参数
        steps = toml.load(gait_params_path)
        full_steps = {'step':[robot_cmd]}
        k = 0
        
        if observe:
            info(f"成功加载 {len(steps['step'])} 个步态参数", "加载")
        
        # 处理每个步态参数
        for i in steps['step']:
            cmd = copy.deepcopy(robot_cmd)
            cmd['duration'] = i['duration']
            
            if i['type'] == 'usergait':                
                cmd['mode'] = 11  # LOCOMOTION
                cmd['gait_id'] = 110  # USERGAIT
                cmd['vel_des'] = i['body_vel_des']
                cmd['rpy_des'] = i['body_pos_des'][0:3]  # roll, pitch, yaw
                cmd['pos_des'] = i['body_pos_des'][3:6]  # x, y, z
                cmd['foot_pose'][0:2] = i['landing_pos_des'][0:2]   # FR
                cmd['foot_pose'][2:4] = i['landing_pos_des'][3:5]   # FL
                cmd['foot_pose'][4:6] = i['landing_pos_des'][6:8]   # RR
                cmd['ctrl_point'][0:2] = i['landing_pos_des'][9:11] # RL
                
                # 步高编码（前两腿和后两腿）
                cmd['step_height'][0] = math.ceil(i['step_height'][0] * 1e3) + math.ceil(i['step_height'][1] * 1e3) * 1e3
                cmd['step_height'][1] = math.ceil(i['step_height'][2] * 1e3) + math.ceil(i['step_height'][3] * 1e3) * 1e3
                
                cmd['acc_des'] = i['weight']
                cmd['value'] = i['use_mpc_traj']
                cmd['contact'] = math.floor(i['landing_gain'] * 1e1)
                cmd['ctrl_point'][2] = i['mu']
                
            if k == 0:
                full_steps['step'] = [cmd]
            else:
                full_steps['step'].append(cmd)
            k = k + 1
        
        # 生成完整的步态参数文件
        full_params_path = "./task_2/Gait_Params_crawl_full.toml"
        with open(full_params_path, 'w') as f:
            f.write("# Gait Params for Low Crawl - Generated\n")
            f.writelines(toml.dumps(full_steps))
        
        if observe:
            info(f"生成完整步态参数文件: {full_params_path}", "生成")
        
        # 发送步态定义文件
        with open(gait_def_path, 'r') as file_obj_gait_def:
            usergait_msg.data = file_obj_gait_def.read()
            ctrl.lc_s.publish("user_gait_file", usergait_msg.encode())
            if observe:
                debug("发送步态定义文件到机器人", "发送")
        time.sleep(0.5)
        
        # 发送步态参数文件
        with open(full_params_path, 'r') as file_obj_gait_params:
            usergait_msg.data = file_obj_gait_params.read()
            ctrl.lc_s.publish("user_gait_file", usergait_msg.encode())
            if observe:
                debug("发送步态参数文件到机器人", "发送")
        time.sleep(0.1)
        
        # 开始执行步态
        msg.mode = 62  # 自定义步态模式
        msg.value = 0
        msg.contact = 15
        msg.gait_id = 110  # USERGAIT ID
        msg.duration = 1000
        msg.life_count += 1
        
        if observe:
            info("开始执行低头匍匐步态...", "执行")
        
        # 执行指定步数的步态
        for i in range(step_count):
            if observe:
                debug(f"执行第 {i+1}/{step_count} 步", "步态")
                
            ctrl.Send_cmd(msg)
            time.sleep(1)  # 每步间隔1秒
            
            # 检查机器人状态（可选）
            if hasattr(ctrl, 'odo_msg'):
                current_pos = ctrl.odo_msg.xyz
                current_rpy = ctrl.odo_msg.rpy
                if observe and i % 2 == 0:  # 每两步输出一次状态
                    debug(f"当前位置: x={current_pos[0]:.3f}, y={current_pos[1]:.3f}, z={current_pos[2]:.3f}", "状态")
                    debug(f"当前姿态: roll={math.degrees(current_rpy[0]):.1f}°, pitch={math.degrees(current_rpy[1]):.1f}°, yaw={math.degrees(current_rpy[2]):.1f}°", "状态")
        
        if observe:
            success(f"成功完成 {step_count} 步低头匍匐步态", "完成")
        
        return True
        
    except KeyboardInterrupt:
        warning("用户中断，停止步态执行", "中断")
        # 安全停止
        msg.mode = 7  # PureDamper模式
        msg.gait_id = 0
        msg.duration = 0
        msg.life_count += 1
        ctrl.Send_cmd(msg)
        return False
        
    except Exception as e:
        error(f"执行低头匍匐步态时发生错误: {str(e)}", "错误")
        # 安全停止
        try:
            msg.mode = 7  # PureDamper模式
            msg.gait_id = 0
            msg.duration = 0
            msg.life_count += 1
            ctrl.Send_cmd(msg)
        except:
            pass
        return False

def transition_to_crawl_position(ctrl, msg, observe=True):
    """
    过渡到匍匐准备姿态
    
    参数:
        ctrl: Robot_Ctrl对象
        msg: 控制消息对象
        observe: 是否输出调试信息
    
    返回:
        bool: 是否成功过渡到匍匐姿态
    """
    if observe:
        section('过渡到低头匍匐准备姿态', "姿态调整")
    
    try:
        # 第一阶段：降低身体高度
        if observe:
            info("第一阶段：降低身体高度到匍匐位置", "调整")
        
        msg.mode = 11  # Locomotion模式
        msg.gait_id = 26  # 自变频步态
        msg.vel_des = [0.0, 0.0, 0.0]  # 停止移动
        msg.rpy_des = [0.0, 0.15, 0.0]  # 稍微抬头，为后续低头做准备
        msg.pos_des = [0.0, 0.0, -0.03]  # 身体降低3cm
        msg.step_height = [0.04, 0.04]  # 较低的步高
        msg.duration = 0
        msg.life_count += 1
        
        ctrl.Send_cmd(msg)
        time.sleep(2.0)  # 等待姿态调整
        
        # 第二阶段：调整到低头姿态
        if observe:
            info("第二阶段：调整到低头匍匐姿态", "调整")
        
        msg.rpy_des = [0.0, 0.25, 0.0]  # 低头姿态，pitch角约14度
        msg.pos_des = [0.0, 0.0, -0.05]  # 身体再降低2cm
        msg.life_count += 1
        
        ctrl.Send_cmd(msg)
        time.sleep(2.0)
        
        # 第三阶段：稳定在匍匐姿态
        if observe:
            info("第三阶段：稳定在低头匍匐姿态", "调整")
        
        msg.vel_des = [0.0, 0.0, 0.0]  # 确保静止
        msg.life_count += 1
        
        ctrl.Send_cmd(msg)
        time.sleep(1.0)
        
        if observe:
            success("成功过渡到低头匍匐准备姿态", "完成")
            
        return True
        
    except Exception as e:
        error(f"过渡到匍匐姿态时发生错误: {str(e)}", "错误")
        return False

def recover_from_crawl_position(ctrl, msg, observe=True):
    """
    从匍匐姿态恢复到正常站立姿态
    
    参数:
        ctrl: Robot_Ctrl对象
        msg: 控制消息对象
        observe: 是否输出调试信息
    
    返回:
        bool: 是否成功恢复到正常姿态
    """
    if observe:
        section('从低头匍匐姿态恢复到正常站立', "姿态恢复")
    
    try:
        # 第一阶段：停止当前步态
        if observe:
            info("第一阶段：停止当前步态", "停止")
        
        msg.mode = 7  # PureDamper模式，安全停止
        msg.gait_id = 0
        msg.duration = 0
        msg.life_count += 1
        ctrl.Send_cmd(msg)
        time.sleep(1.0)
        
        # 第二阶段：逐渐抬高身体
        if observe:
            info("第二阶段：逐渐抬高身体", "恢复")
        
        msg.mode = 11  # Locomotion模式
        msg.gait_id = 26  # 自变频步态
        msg.vel_des = [0.0, 0.0, 0.0]
        msg.rpy_des = [0.0, 0.1, 0.0]  # 减少低头角度
        msg.pos_des = [0.0, 0.0, -0.02]  # 稍微抬高
        msg.step_height = [0.06, 0.06]
        msg.duration = 0
        msg.life_count += 1
        
        ctrl.Send_cmd(msg)
        time.sleep(2.0)
        
        # 第三阶段：恢复到正常姿态
        if observe:
            info("第三阶段：恢复到正常站立姿态", "恢复")
        
        msg.rpy_des = [0.0, 0.0, 0.0]  # 恢复正常头部姿态
        msg.pos_des = [0.0, 0.0, 0.0]  # 恢复正常身体高度
        msg.step_height = [0.08, 0.08]  # 正常步高
        msg.life_count += 1
        
        ctrl.Send_cmd(msg)
        time.sleep(2.0)
        
        # 最终稳定
        msg.life_count += 1
        ctrl.Send_cmd(msg)
        time.sleep(1.0)
        
        if observe:
            success("成功恢复到正常站立姿态", "完成")
            
        return True
        
    except Exception as e:
        error(f"恢复姿态时发生错误: {str(e)}", "错误")
        return False

def run_low_crawl_demo(ctrl, msg, distance=2.0, observe=True):
    """
    运行完整的低头匍匐前进演示
    
    参数:
        ctrl: Robot_Ctrl对象
        msg: 控制消息对象  
        distance: 期望的前进距离（米）
        observe: 是否输出调试信息
    
    返回:
        bool: 是否成功完成演示
    """
    if observe:
        section('开始低头匍匐前进演示', "演示")
        info(f"目标前进距离: {distance} 米", "目标")
    
    try:
        # 记录起始位置
        start_position = None
        if hasattr(ctrl, 'odo_msg'):
            start_position = list(ctrl.odo_msg.xyz)
            if observe:
                info(f"起始位置: x={start_position[0]:.3f}, y={start_position[1]:.3f}, z={start_position[2]:.3f}", "位置")
        
        # 步骤1: 过渡到匍匐姿态
        success_transition = transition_to_crawl_position(ctrl, msg, observe)
        if not success_transition:
            error("过渡到匍匐姿态失败", "错误")
            return False
        
        # 步骤2: 估算需要的步数（每步大约前进0.1-0.15米）
        estimated_steps = max(4, int(distance / 0.12))  # 每步约12cm
        if observe:
            info(f"估算需要执行 {estimated_steps} 步来完成 {distance} 米的移动", "计划")
        
        # 步骤3: 执行匍匐步态
        success_crawl = low_crawl_gait(ctrl, msg, step_count=estimated_steps, observe=observe)
        if not success_crawl:
            error("执行匍匐步态失败", "错误")
            # 尝试恢复姿态
            recover_from_crawl_position(ctrl, msg, observe)
            return False
        
        # 步骤4: 恢复到正常姿态
        success_recovery = recover_from_crawl_position(ctrl, msg, observe)
        if not success_recovery:
            error("恢复正常姿态失败", "错误")
            return False
        
        # 计算实际移动距离
        if start_position and hasattr(ctrl, 'odo_msg'):
            end_position = list(ctrl.odo_msg.xyz)
            actual_distance = math.sqrt(
                (end_position[0] - start_position[0])**2 + 
                (end_position[1] - start_position[1])**2
            )
            if observe:
                success(f"演示完成！实际前进距离: {actual_distance:.3f} 米", "完成")
                info(f"结束位置: x={end_position[0]:.3f}, y={end_position[1]:.3f}, z={end_position[2]:.3f}", "位置")
        else:
            if observe:
                success("低头匍匐前进演示完成！", "完成")
        
        return True
        
    except Exception as e:
        error(f"执行匍匐演示时发生错误: {str(e)}", "错误")
        # 尝试安全恢复
        try:
            recover_from_crawl_position(ctrl, msg, observe)
        except:
            pass
        return False